I'm not sure why people think always leaving a rep or two in the tank means you aren't pushing yourself as hard as you can.
Let's go back to my last shoulder workout. For dumbbell side laterals, I was using the 60s, which are very heavy for me, and from the very first rep require intense effort to get the dumbbells up with good form and no cheating. Now, I didn't go to failure on every set. I did about 13 reps in the first set and 8 reps in the second, and in both sets I stopped when I knew my next rep or two would be pushing it and close to failure and breaking form. But those sets were still very intense sets.
Or let's go back to a chest workout I did a while back. I was doing incline barbell press, and I knew that I could get 315 for 8-10 reps if I went to failure, but that if I did I wouldn't be able to get it but a few times on the next set, and I wanted to build more volume into my workout. So I did a 5x5 at that weight. And the first rep in the first set was still a hard, heavy rep. Those sets were intense, and required me to really be in the zone and get aggressive and forceful under the weight.
Now, I'm not someone who is against going to failure. I think it's a tool we use, each of us according to our own genetics and circumstances, within our own micro and macro cycles, etc, but it just befuddles me when people dismiss sub-failure training as "not intense." Obviously, training without intensity won't do much good. But sub-failure training should be intense.